#ifndef SOLVER_TYPE_H
#define SOLVER_TYPE_H

#include <g2o/core/block_solver.h>
#include <g2o/solvers/dense/linear_solver_dense.h>

// 每个误差项优化变量维度为3，误差值维度为1
typedef g2o::BlockSolver<g2o::BlockSolverTraits<3, 1>> BlockSolverType;           

// 线性求解器类型
typedef g2o::LinearSolverDense<BlockSolverType::PoseMatrixType> LinearSolverType; 

#endif
